A nonlinear load simulator for robot manipulators

H. Temeltas; M. Gokasan; O. S. Bogosyan

doi:10.1109/IECON.2001.976508

A nonlinear load simulator for robot manipulators

H. Temeltas
, M. Gokasan
, O. S. Bogosyan

Kontrol ve Otomasyon Mühendisliği Bölümü

Araştırma sonucu: Konferansa katkı › Yazı › bilirkişi

25 Atıf (Scopus)

Özet

This study is on the development of a Hardware-In-the-Loop system for the high performance control of a 2-link direct drive planar arm. At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair. The expected results have been obtained.

Orijinal dil	İngilizce
Sayfalar	357-362
Sayfa sayısı	6
DOI'lar	https://doi.org/10.1109/IECON.2001.976508
Yayın durumu	Yayınlandı - 2001
Etkinlik	27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States Süre: 29 Kas 2001 → 2 Ara 2001

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
Ülke/Bölge	United States
Şehir	Denver, CO
Periyot	29/11/01 → 2/12/01

Belgeye Erişim

10.1109/IECON.2001.976508

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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title = "A nonlinear load simulator for robot manipulators",

abstract = "This study is on the development of a Hardware-In-the-Loop system for the high performance control of a 2-link direct drive planar arm. At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair. The expected results have been obtained.",

keywords = "Actual load torque, Direct drive systems, Hardware in the loop simulator, Robot manipulators",

author = "H. Temeltas and M. Gokasan and Bogosyan, \{O. S.\}",

year = "2001",

doi = "10.1109/IECON.2001.976508",

language = "English",

pages = "357--362",

note = "27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 ; Conference date: 29-11-2001 Through 02-12-2001",

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TY - CONF

T1 - A nonlinear load simulator for robot manipulators

AU - Temeltas, H.

AU - Gokasan, M.

AU - Bogosyan, O. S.

PY - 2001

Y1 - 2001

N2 - This study is on the development of a Hardware-In-the-Loop system for the high performance control of a 2-link direct drive planar arm. At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair. The expected results have been obtained.

AB - This study is on the development of a Hardware-In-the-Loop system for the high performance control of a 2-link direct drive planar arm. At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair. The expected results have been obtained.

KW - Actual load torque

KW - Direct drive systems

KW - Hardware in the loop simulator

KW - Robot manipulators

UR - https://www.scopus.com/pages/publications/0035692436

U2 - 10.1109/IECON.2001.976508

DO - 10.1109/IECON.2001.976508

M3 - Paper

AN - SCOPUS:0035692436

SP - 357

EP - 362

T2 - 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001

Y2 - 29 November 2001 through 2 December 2001

ER -

A nonlinear load simulator for robot manipulators

Özet

???event.eventtypes.event.conference???

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap